Long Range Steerable LIDAR System

ABSTRACT

Systems and methods are described that relate to a light detection and ranging (LIDAR) device. The LIDAR device includes a fiber laser configured to emit light within a wavelength range, a scanning portion configured to direct the emitted light in a reciprocating manner about a first axis, and a plurality of detectors configured to sense light within the wavelength range. The device additionally includes a controller configured to receive target information, which may be indicative of an object, a position, a location, or an angle range. In response to receiving the target information, the controller may cause the rotational mount to rotate so as to adjust a pointing direction of the LIDAR. The controller is further configured to cause the LIDAR to scan a field-of-view (FOV) of the environment. The controller may determine a three-dimensional (3D) representation of the environment based on data from scanning the FOV.

CROSS-REFERENCE TO RELATED APPLICATION

The present patent application is a non-provisional continuationapplication claiming priority to U.S. patent application Ser. No.14/679,683 filed on Apr. 6, 2015, the contents of which are herebyincorporated by reference.

BACKGROUND

Unless otherwise indicated herein, the materials described in thissection are not prior art to the claims in this application and are notadmitted to be prior art by inclusion in this section.

Vehicles can be configured to operate in an autonomous mode in which thevehicle navigates through an environment with little or no input from adriver. Such autonomous vehicles can include one or more sensors thatare configured to detect information about the environment in which thevehicle operates.

One such sensor is a light detection and ranging (LIDAR) device. A LIDARcan estimate distance to environmental features while scanning through ascene to assemble a “point cloud” indicative of reflective surfaces inthe environment. Individual points in the point cloud can be determinedby transmitting a laser pulse and detecting a returning pulse, if any,reflected from an object in the environment, and determining thedistance to the object according to the time delay between thetransmitted pulse and the reception of the reflected pulse. A laser, orset of lasers, can be rapidly and repeatedly scanned across a scene toprovide continuous real-time information on distances to reflectiveobjects in the scene. Combining the measured distances and theorientation of the laser(s) while measuring each distance allows forassociating a three-dimensional position with each returning pulse. Inthis way, a three-dimensional map of points indicative of locations ofreflective features in the environment can be generated for the entirescanning zone.

SUMMARY

In a first aspect, a device is provided. The device includes a lightdetection and ranging (LIDAR) device. The LIDAR device includes a lightsource configured to emit light within a wavelength range. The lightsource includes a fiber laser. The LIDAR device also includes a scanningportion configured to direct the emitted light in a reciprocating mannerabout a first axis and a plurality of detectors configured to senselight within the wavelength range. The device further includes a housingand a rotational mount configured to rotate about a second axis. Atleast the scanning portion is disposed within the housing and a wall ofthe housing includes a light filter configured to allow light within thewavelength range to propagate through the light filter. The deviceadditionally includes a controller configured to receive targetinformation. The target information is indicative of at least one of: atype of object, a size of an object, a shape of an object, a position, alocation, or an angle range. The controller is additionally configuredto, in response to receiving the target information, cause therotational mount to rotate so as to adjust a pointing direction of theLIDAR. The controller is further configured to cause the LIDAR to scan afield-of-view (FOV) of the environment. The FOV extends away from theLIDAR along the pointing direction. The controller is yet furtherconfigured to determine a three-dimensional (3D) representation of theenvironment based on data from scanning the FOV.

In a second aspect, a system is provided. The system includes a vehicleand a sensing device configured to provide environmental data indicativeof an environment around the vehicle. The sensing device is coupled tothe vehicle. The system also includes a light detection and ranging(LIDAR) device. The LIDAR device is coupled to the vehicle. The systemfurther includes a controller configured to receive the environmentaldata and determine, based on the environmental data, target information.The target information is indicative of at least one of: a type ofobject, a size of an object, a shape of an object, a position, alocation, or an angle range. The controller is also configured to causethe rotational mount to rotate so as to adjust a pointing direction ofthe LIDAR based at least on the target information and cause the LIDARto scan a field-of-view (FOV) of the environment. The FOV extends awayfrom the LIDAR along the pointing direction. The controller is furtherconfigured to determine a three-dimensional (3D) representation of theenvironment based on data from scanning the FOV.

In a third aspect, a method is provided. The method includes receivingtarget information by a controller of a light detection and ranging(LIDAR) device. The target information is indicative at least one of: atype of object, a size of an object, a shape of an object, a distance, aposition, or an angle range. The method also includes causing a lightsource of the LIDAR to emit light within a wavelength range. The lightsource includes a fiber laser. The method further includes causing ascanning portion of the LIDAR to direct the emitted light in areciprocating manner about a first axis and in response to receiving thetarget information, causing a rotational mount coupled to the LIDAR torotate so as to adjust a pointing direction of the LIDAR. The rotationalmount is configured to rotate about a second axis. The method yetfurther includes causing the LIDAR to scan a field-of-view (FOV) of theenvironment. The FOV extends away from the LIDAR along the pointingdirection. The method also includes determining a three-dimensional (3D)representation of the environment based on data from scanning the FOV.

Other aspects, embodiments, and implementations will become apparent tothose of ordinary skill in the art by reading the following detaileddescription, with reference where appropriate to the accompanyingdrawings.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1A illustrates several views of a vehicle, according to an exampleembodiment.

FIG. 1B illustrates a perspective view of a sensor unit, according to anexample embodiment.

FIG. 1C illustrates a perspective view of a sensor unit, according to anexample embodiment.

FIG. 1D illustrates a scanning environment around a vehicle, accordingto an example embodiment.

FIG. 1E illustrates a scanning environment around a vehicle, accordingto an example embodiment.

FIG. 2 illustrates a system, according to an example embodiment.

FIG. 3A illustrates a view of a LIDAR device, according to an exampleembodiment.

FIG. 3B illustrates a view of a LIDAR device, according to an exampleembodiment.

FIG. 4A illustrates a cross-sectional view of a LIDAR device, accordingto an example embodiment.

FIG. 4B illustrates a cross-sectional view of a LIDAR device, accordingto an example embodiment.

FIG. 5 illustrates a representation of a scene, according to an exampleembodiment.

FIG. 6 illustrates a representation of a scene, according to an exampleembodiment.

FIG. 7 illustrates a representation of a scene, according to an exampleembodiment.

FIG. 8 illustrates a vehicle operating in an environment that includesone or more objects, according to an example embodiment.

FIG. 9 illustrates a block diagram of a vehicle, according to an exampleembodiment.

FIG. 10 depicts a computer readable medium configured according to anexample embodiment.

FIG. 11 illustrates a method, according to an example embodiment.

DETAILED DESCRIPTION

In the following detailed description, reference is made to theaccompanying figures, which form a part hereof. In the figures, similarsymbols typically identify similar components, unless context dictatesotherwise. The illustrative embodiments described in the detaileddescription, figures, and claims are not meant to be limiting. Otherembodiments may be utilized, and other changes may be made, withoutdeparting from the scope of the subject matter presented herein. It willbe readily understood that the aspects of the present disclosure, asgenerally described herein, and illustrated in the figures, can bearranged, substituted, combined, separated, and designed in a widevariety of different configurations, all of which are explicitlycontemplated herein.

Overview

A vehicle may include a plurality of sensors configured to sense variousaspects of the environment around the vehicle. For example, the vehiclemay include a plurality of LIDAR devices with different fields of view,ranges, and/or purposes. In one example, a LIDAR device may include asingle beam with a narrow laser beam spread. The laser beam spread maybe about 0.1°×0.03° resolution, however other beam resolutions arepossible. The LIDAR system may be mounted to a roof of a vehicle,although other mounting locations are possible.

The laser beam may be steerable over 360° about a vertical axisextending through the vehicle. For example, the LIDAR system may bemounted with a rotational bearing configured to allow the LIDAR systemto rotate about a vertical axis. A stepper motor may be configured tocontrol the rotation of the LIDAR system. Furthermore, the laser beammay be steered about a horizontal axis such that the beam can be movedup and down. For example, a portion of the LIDAR system, e.g. variousoptics, may be coupled to the LIDAR system mount via a spring. Thevarious optics may be moved about the horizontal axis such that thelaser beam is steered up and down. The spring may include a resonantfrequency. The resonant frequency may be around 140 Hz. Alternatively,the resonant frequency may be another frequency. The laser beam may besteered using a combination of mirrors, motors, springs, magnets,lenses, and/or other known means to steer light beams.

The laser may be a fiber laser that produces 1550 nm laser light,although other wavelengths are possible. Furthermore, the pulserepetition rate of the LIDAR light source may be 4 Hz. The effectiverange of such a LIDAR system may be 300 meters, or more.

The laser beam may be steered by a control system of the vehicle or acontrol system associated with the LIDAR system. For example, inresponse to the vehicle approaching an intersection, the LIDAR systemmay scan for oncoming traffic to the left and oncoming traffic to theright. Other sensing scenarios are possible.

In an example embodiment, the LIDAR system may be steered so as toidentify particular objects. For example, the LIDAR system may beoperable to identify the shoulders or another part of a pedestrian. Inanother example, the LIDAR system may be operable to identify the wheelson a bicycle.

The LIDAR system described herein may operate in conjunction with othersensors on the vehicle. For example, the LIDAR system may be used toidentify specific objects in particular situations. Target informationmay be determined based on data from any one of, or a combination of,other sensors associated with the vehicle.

As a specific example, a general-purpose LIDAR system may provide datarelated to, for instance, a car passing on the vehicle's right. Acontroller may determine target information based on the data from thegeneral-purpose LIDAR system. Based on the target information, thecontroller may cause the LIDAR system disclosed herein to scan for thespecific passing car and evaluate the target object with higherresolution and/or with a higher pulse repetition rate.

The embodiments disclosed herein may be used on any type of vehicle,including conventional automobiles and automobiles having an autonomousmode of operation. However, the term “vehicle” is to be broadlyconstrued to cover any moving object, including, for instance, a truck,a van, a semi-trailer truck, a motorcycle, a golf cart, an off-roadvehicle, a warehouse transport vehicle, or a farm vehicle, as well as acarrier that rides on a track such as a rollercoaster, trolley, tram, ortrain car, among other examples.

System Examples

FIG. 1A illustrates a vehicle 100, according to an example embodiment.In particular, FIG. 1A shows a Right Side View, Front View, Back View,and Top View of the vehicle 100. Although vehicle 100 is illustrated inFIG. 1A as a car, as discussed above, other embodiments are possible.Furthermore, although the example vehicle 100 is shown as a vehicle thatmay be configured to operate in autonomous mode, the embodimentsdescribed herein are also applicable to vehicles that are not configuredto operate autonomously. Thus, the example vehicle 100 is not meant tobe limiting. As shown, the vehicle 100 includes five sensor units 102,104, 106, 108, and 110, and four wheels, exemplified by wheel 112.

In line with the discussion above, each of the sensor units 102, 104,106, 108, and 110 may include one or more light detection and rangingdevices (LIDARs) that may be configured to scan an environment aroundthe vehicle 100 according to various road conditions or scenarios.Additionally or alternatively, in some embodiments, the sensor units102, 104, 106, 108, and 110 may include any combination of globalpositioning system sensors, inertial measurement units, radio detectionand ranging (RADAR) units, cameras, laser rangefinders, LIDARs, and/oracoustic sensors among other possibilities.

As shown, the sensor unit 102 is mounted to a top side of the vehicle100 opposite to a bottom side of the vehicle 100 where the wheel 112 ismounted. Further, the sensor units 104, 106, 108, and 110 are eachmounted to a given side of the vehicle 100 other than the top side. Forexample, the sensor unit 104 is positioned at a front side of thevehicle 100, the sensor 106 is positioned at a back side of the vehicle100, the sensor unit 108 is positioned at a right side of the vehicle100, and the sensor unit 110 is positioned at a left side of the vehicle100.

While the sensor units 102, 104, 106, 108, and 110 are shown to bemounted in particular locations on the vehicle 100, in some embodiments,the sensor units 102, 104, 106, 108, and 110 may be mounted elsewhere onthe vehicle 100, either inside or outside the vehicle 100. For example,although FIG. 1A shows the sensor unit 108 mounted to a right-siderear-view mirror of the vehicle 100, the sensor unit 108 mayalternatively be positioned in another location along the right side ofthe vehicle 100. Further, while five sensor units are shown, in someembodiments more or fewer sensor units may be included in the vehicle100.

In some embodiments, one or more of the sensor units 102, 104, 106, 108,and 110 may include one or more movable mounts on which the sensors maybe movably mounted. The movable mount may include, for example, arotating platform. Sensors mounted on the rotating platform could berotated so that the sensors may obtain information from variousdirections around the vehicle 100. For example, a LIDAR of the sensorunit 102 may have a viewing direction that can be adjusted by actuatingthe rotating platform to a different direction, etc. Alternatively oradditionally, the movable mount may include a tilting platform. Sensorsmounted on the tilting platform could be tilted within a given range ofangles and/or azimuths so that the sensors may obtain information from avariety of angles. The movable mount may take other forms as well.

Further, in some embodiments, one or more of the sensor units 102, 104,106, 108, and 110 may include one or more actuators configured to adjustthe position and/or orientation of sensors in the sensor unit by movingthe sensors and/or movable mounts. Example actuators include motors,pneumatic actuators, hydraulic pistons, relays, solenoids, andpiezoelectric actuators. Other actuators are possible as well.

As shown, the vehicle 100 includes one or more wheels such as the wheel112 that are configured to rotate to cause the vehicle to travel along adriving surface. In some embodiments, the wheel 112 may include at leastone tire coupled to a rim of the wheel 112. To that end, the wheel 112may include any combination of metal and rubber, or a combination ofother materials. The vehicle 100 may include one or more othercomponents in addition to or instead of those shown.

FIG. 1B is a perspective view of the sensor unit 102 positioned at thetop side of the vehicle 100 shown in FIG. 1A. As shown, the sensor unit102 includes a first LIDAR 120, a second LIDAR 122, a dividing structure124, and light filter 126.

In some examples, the first LIDAR 120 may be configured to scan anenvironment around the vehicle 100 by rotating about an axis (e.g.,vertical axis, etc.) continuously while emitting one or more lightpulses and detecting reflected light pulses off objects in theenvironment of the vehicle, for example. In some embodiments, the firstLIDAR 120 may be configured to repeatedly rotate about the axis to beable to scan the environment at a sufficiently high refresh rate toquickly detect motion of objects in the environment. For instance, thefirst LIDAR 120 may have a refresh rate of 10 Hz (e.g., ten completerotations of the first LIDAR 120 per second), thereby scanning a360-degree FOV around the vehicle ten times every second. Through thisprocess, for instance, a 3D map of the surrounding environment may bedetermined based on data from the first LIDAR 120. In one embodiment,the first LIDAR 120 may include a plurality of light sources that emit64 laser beams having a wavelength of 905 nm. In this embodiment, the 3Dmap determined based on the data from the first LIDAR 120 may have a0.2° (horizontal)×0.3° (vertical) angular resolution, and the firstLIDAR 120 may have a 360° (horizontal)×20° (vertical) FOV of theenvironment. In this embodiment, the 3D map may have sufficientresolution to detect or identify objects within a medium range of 100meters from the vehicle 100, for example. However, other configurations(e.g., number of light sources, angular resolution, wavelength, range,etc.) are possible as well.

Unlike the first LIDAR 120, in some embodiments, the second LIDAR 122may be configured to scan a narrower FOV of the environment around thevehicle 100. For instance, the second LIDAR 122 may be configured torotate (horizontally) for less than a complete rotation about a similaraxis. Further, in some examples, the second LIDAR 122 may have a lowerrefresh rate than the first LIDAR 120. Through this process, the vehicle100 may determine a 3D map of the narrower FOV of the environment usingthe data from the second LIDAR 122. The 3D map in this case may have ahigher angular resolution than the corresponding 3D map determined basedon the data from the first LIDAR 120, and may thus allowdetection/identification of objects that are further than the mediumrange of distances of the first LIDAR 120, as well as identification ofsmaller objects within the medium range of distances. In one embodiment,the second LIDAR 122 may have a FOV of 8° (horizontal)×15° (vertical), arefresh rate of 4 Hz, and may emit one narrow beam having a wavelengthof 1550 nm. In this embodiment, the 3D map determined based on the datafrom the second LIDAR 122 may have an angular resolution of 0.1°(horizontal)×0.03° (vertical), thereby allowing detection/identificationof objects within a range of around three hundred meters from thevehicle 100. However, other configurations (e.g., number of lightsources, angular resolution, wavelength, range, etc.) are possible aswell.

In some examples, the vehicle 100 may be configured to adjust a viewingdirection of the second LIDAR 122. For example, while the second LIDAR122 has a narrow horizontal FOV (e.g., 8 degrees), the second LIDAR 122may be mounted to a stepper motor (not shown) that allows adjusting theviewing direction of the second LIDAR 122 to pointing directions otherthan that shown in FIG. 1B. Thus, in some examples, the second LIDAR 122may be steerable to scan the narrow FOV along any pointing directionfrom the vehicle 100.

The structure, operation, and functionality of the second LIDAR 122 aredescribed in greater detail within exemplary embodiments herein.

The dividing structure 124 may be formed from any solid materialsuitable for supporting the first LIDAR 120 and/or optically isolatingthe first LIDAR 120 from the second LIDAR 122. Example materials mayinclude metals, plastics, foam, among other possibilities.

The light filter 126 may be formed from any material that issubstantially transparent to light having wavelengths with a wavelengthrange, and substantially opaque to light having wavelengths outside thewavelength range. For example, the light filter 126 may allow lighthaving the first wavelength of the first LIDAR 120 (e.g., 905 nm) andthe second wavelength of the second LIDAR 122 (e.g., 1550 nm) topropagate through the light filter 126. As shown, the light filter 126is shaped to enclose the first LIDAR 120 and the second LIDAR 122. Thus,in some examples, the light filter 126 may also be configured to preventenvironmental damage to the first LIDAR 120 and the second LIDAR 122,such as accumulation of dust or collision with airborne debris, amongother possibilities. In some examples, the light filter 126 may beconfigured to reduce visible light propagating through the light filter126. In turn, the light filter 126 may improve an aesthetic appearanceof the vehicle 100 by enclosing the first LIDAR 120 and the second LIDAR122, while reducing visibility of the components of the sensor unit 102from a perspective of an outside observer, for example. In otherexamples, the light filter 126 may be configured to allow visible lightas well as the light from the first LIDAR 120 and the second LIDAR 122.

In some embodiments, portions of the light filter 126 may be configuredto allow different wavelength ranges to propagate through the lightfilter 126. For example, an upper portion of the light filter 126 abovethe dividing structure 124 may be configured to allow propagation oflight within a first wavelength range that includes the first wavelengthof the first LIDAR 120. Further, for example, a lower portion of thelight filter 126 below the dividing structure 124 may be configured toallow propagation of light within a second wavelength range thatincludes the second wavelength of the second LIDAR 122. In otherembodiments, the wavelength range associated with the light filter 126may include both the first wavelength of the first LIDAR 120 and thesecond wavelength of the second LIDAR 122.

FIG. 1C is a perspective view of the sensor unit 104 positioned at thefront side of the vehicle 100 shown in FIG. 1A. In some examples, thesensor units 106, 108, and 110 may be configured similarly to the sensorunit 104 illustrated in FIG. 1C. As shown, the sensor unit 104 includesa third LIDAR 130 and a light filter 132.

The third LIDAR 130 may be configured to scan a FOV of the environmentaround the vehicle 100 that extends away from a given side of thevehicle 100 (i.e., the front side) where the third LIDAR 130 ispositioned. Thus, in some examples, the third LIDAR 130 may beconfigured to rotate (e.g., horizontally) across a wider FOV than thesecond LIDAR 122 but less than the 360-degree FOV of the first LIDAR 120due to the positioning of the third LIDAR 130. In one embodiment, thethird LIDAR 130 may have a FOV of 270° (horizontal)×110° (vertical), arefresh rate of 4 Hz, and may emit one laser beam having a wavelength of905 nm. In this embodiment, the 3D map determined based on the data fromthe third LIDAR 130 may have an angular resolution of 1.2°(horizontal)×0.2° (vertical), thereby allowing detection/identificationof objects within a short range of 30 meters to the vehicle 100.However, other configurations (e.g., number of light sources, angularresolution, wavelength, range, etc.) are possible as well. Thestructure, operation, and functionality of the third LIDAR 130 aredescribed in greater detail within exemplary embodiments of the presentdisclosure.

The light filter 132 may be similar to the light filter 126 of FIG. 1B.For example, the light filter 132 may be shaped to enclose the thirdLIDAR 130. Further, for example, the light filter 132 may be configuredto allow light within a wavelength range that includes the wavelength oflight from the third LIDAR 130 to propagate through the light filter132. In some examples, the light filter 132 may be configured to reducevisible light propagating through the light filter 132, therebyimproving an aesthetic appearance of the vehicle 100.

FIG. 1D illustrates a scenario where the vehicle 100 is operating on asurface 140. The surface 140, for example, may be a driving surface suchas a road or a highway, or any other surface. In FIG. 1D, the arrows142, 144, 146, 148, 150, 152 illustrate light pulses emitted by variousLIDARs of the sensor units 102 and 104 at ends of the vertical FOV ofthe respective LIDAR.

By way of example, arrows 142 and 144 illustrate light pulses emitted bythe first LIDAR 120 of FIG. 1B. In this example, the first LIDAR 120 mayemit a series of pulses in the region of the environment between thearrows 142 and 144 and may receive reflected light pulses from thatregion to detect and/or identify objects in that region. Due to thepositioning of the first LIDAR 120 (not shown) of the sensor unit 102 atthe top side of the vehicle 100, the vertical FOV of the first LIDAR 120is limited by the structure of the vehicle 100 (e.g., roof, etc.) asillustrated in FIG. 1D. However, the positioning of the first LIDAR 120in the sensor unit 102 at the top side of the vehicle 100 allows thefirst LIDAR 120 to scan all directions around the vehicle 100 byrotating about a substantially vertical axis 170. Similarly, forexample, the arrows 146 and 148 illustrate light pulses emitted by thesecond LIDAR 122 of FIG. 1B at the ends of the vertical FOV of thesecond LIDAR 122. Further, the second LIDAR 122 may also be steerable toadjust a viewing direction of the second LIDAR 122 to any directionaround the vehicle 100 in line with the discussion. In one embodiment,the vertical FOV of the first LIDAR 120 (e.g., angle between arrows 142and 144) is 20° and the vertical FOV of the second LIDAR 122 is 15°(e.g., angle between arrows 146 and 148). However, other vertical FOVsare possible as well depending, for example, on factors such asstructure of the vehicle 100 or configuration of the respective LIDARs.

As shown in FIG. 1D, the sensor unit 102 (including the first LIDAR 120and/or the second LIDAR 122) may scan for objects in the environment ofthe vehicle 100 in any direction around the vehicle 100 (e.g., byrotating, etc.), but may be less suitable for scanning the environmentfor objects in close proximity to the vehicle 100. For example, asshown, objects within distance 154 to the vehicle 100 may be undetectedor may only be partially detected by the first LIDAR 120 of the sensorunit 102 due to positions of such objects being outside the regionbetween the light pulses illustrated by the arrows 142 and 144.Similarly, objects within distance 156 may also be undetected or mayonly be partially detected by the second LIDAR 122 of the sensor unit102.

Accordingly, the third LIDAR 130 (not shown) of the sensor unit 104 maybe used for scanning the environment for objects that are close to thevehicle 100. For example, due to the positioning of the sensor unit 104at the front side of the vehicle 100, the third LIDAR 130 may besuitable for scanning the environment for objects within the distance154 and/or the distance 156 to the vehicle 100, at least for the portionof the environment extending away from the front side of the vehicle100. As shown, for example, the arrows 150 and 152 illustrate lightpulses emitted by the third LIDAR 130 at ends of the vertical FOV of thethird LIDAR 130. Thus, for example, the third LIDAR 130 of the sensorunit 104 may be configured to scan a portion of the environment betweenthe arrows 150 and 152, including objects that are close to the vehicle100. In one embodiment, the vertical FOV of the third LIDAR 130 is 110°(e.g., angle between arrows 150 and 152). However, other vertical FOVsare possible as well.

It is noted that the angles between the various arrows 142-152 shown inFIG. 1D are not to scale and are for illustrative purposes only. Thus,in some examples, the vertical FOVs of the various LIDARs may vary aswell.

FIG. 1E illustrates a top view of the vehicle 100 in a scenario wherethe vehicle 100 is scanning a surrounding environment. In line with thediscussion above, each of the various LIDARs of the vehicle 100 may havea particular resolution according to its respective refresh rate, FOV,or any other factor. In turn, the various LIDARs may be suitable fordetection and/or identification of objects within a respective range ofdistances to the vehicle 100.

As shown in FIG. 1E, contours 160 and 162 illustrate an example range ofdistances to the vehicle 100 where objects may be detected/identifiedbased on data from the first LIDAR 120 of the sensor unit 102. Asillustrated, for example, close objects within the contour 160 may notbe properly detected and/or identified due to the positioning of thesensor unit 102 on the top side of the vehicle 100. However, forexample, objects outside of contour 160 and within a medium range ofdistances (e.g., 100 meters, etc.) defined by the contour 162 may beproperly detected/identified using the data from the first LIDAR 120.Further, as shown, the horizontal FOV of the first LIDAR 120 may span360° in all directions around the vehicle 100.

Further, as shown in FIG. 1E, contour 164 illustrates a region of theenvironment where objects may be detected and/or identified using thehigher resolution data from the second LIDAR 122 of the sensor unit 102.As shown, the contour 164 includes objects further away from the vehicle100 over a relatively longer range of distances (e.g., 300 meters,etc.), for example. Although the contour 164 indicates a narrower FOV(horizontally) of the second LIDAR 122, in some examples, the vehicle100 may be configured to adjust the viewing direction of the secondLIDAR 122 to any other direction than that shown in FIG. 1E. By way ofexample, the vehicle 100 may detect an object using the data from thefirst LIDAR 120 (e.g., within the contour 162), adjust the viewingdirection of the second LIDAR 122 to a FOV that includes the object, andthen identify the object using the higher resolution data from thesecond LIDAR 122. In one embodiment, the horizontal FOV of the secondLIDAR 122 may be 8°.

Further, as shown in FIG. 1E, contour 166 illustrates a region of theenvironment scanned by the third LIDAR 130 of the sensor unit 104. Asshown, the region illustrated by the contour 166 includes portions ofthe environment that may not be scanned by the first LIDAR 120 and/orthe second LIDAR 124, for example. Further, for example, the data fromthe third LIDAR 130 has a resolution sufficient to detect and/oridentify objects within a short distance (e.g., 30 meters, etc.) to thevehicle 100.

It is noted that the ranges, resolutions, and FOVs described above arefor exemplary purposes only, and may vary according to variousconfigurations of the vehicle 100. Further, the contours 160, 162, 164,and 166 shown in FIG. 1E are not to scale but are illustrated as shownfor convenience of description.

FIG. 2 illustrates a system 200 that may include a vehicle 210 and acontroller 230. The vehicle 210 could be similar or identical to vehicle100 illustrated and described in reference to FIG. 1. The system 200 mayinclude one or more sensing devices 212, a housing 214, a rotationalmount 216, and a LIDAR device 220. The controller 230 may include aprocessor 232 and a memory 234.

The sensing device 212 may be configured to provide environmental dataabout an environment around the vehicle 210. The sensing device 212 maybe coupled to the vehicle, however locations of the sensing device 212remote to the vehicle are possible. The sensing device 212 may include acamera, a LIDAR device, a RADAR device, a sonar transducer, or anothertype of sensor.

LIDAR device 220 may be configured to rotate about an axis that passesfrom top to bottom through the vehicle. As such, the LIDAR device 220may be configured to emit laser light into the environment around thevehicle and receive reflected light back from objects in theenvironment. By analyzing the received light, a point cloud may beformed that could provide a three-dimensional (3D) representation of theenvironment. In other words, the LIDAR device 220 may be able to provideinformation about a 360-degree field of view around the vehicle.

The LIDAR device 220 may be similar or identical to the second LIDARdevice 124 as described and illustrated in reference to FIG. 1 above.The LIDAR device 220 may be coupled to the vehicle 210. The LIDAR device220 includes a light source 222, which may be configured to emit lightat one or more wavelengths. In an example embodiment, the LIDAR device220 may be configured to emit light at a 1550 nm wavelength. Otheremission wavelengths are possible. The light source 222 of the LIDARdevice 220 may be a fiber laser, such as a laser that includes anoptical fiber doped with rare-earth elements that may serve as an activegain medium. Alternatively, the light source 222 could be another typeof laser.

In an example embodiment, a scanning portion 224 of the LIDAR device 220may be configured to direct the emitted light in a reciprocating mannerabout a first axis. In an example embodiment, the scanning portion 224may include a moveable mirror, a spring, and an actuator. The lightsource 222 of the LIDAR device 220 may emit light toward the moveablemirror. The spring and the actuator may be configured to move themoveable mirror in a reciprocating manner about a horizontal axis so asto move a beam of emitted light in along a substantially vertical line.

In some embodiments, the spring and the actuator may be configured tomove the moveable mirror about the first axis at a resonant frequency.The resonant frequency could be 140 Hz, but other frequencies arepossible.

Furthermore, at least the moveable mirror may be mounted on therotational mount 216. In an example embodiment, the scanning portion 224of the LIDAR device 220 may be disposed within a housing 214. Thehousing 214 may be positioned at a top side of the vehicle 210. In sucha scenario, a second axis may be defined as passing through the top andthe bottom of the vehicle 210. As described above, the rotational mount216 may be coupled to the moveable mirror, such that the moveable mirrormay rotate about the second axis. Accordingly, the moveable mirror maybe configured to direct light within a 360-degree field of view aroundthe vehicle 210. In other example embodiments, the rotational mount 216need not be configured to rotate 360 degrees, but rather within asmaller angle range.

The housing 214 may include a light filter. The light filter may bedome-shaped and may be configured to reduce an amount of visible lightpropagating through the light filter.

The LIDAR device 220 may further include one or more detectors 226configured to receive the reflected emission light from the environment.In an example embodiment, the LIDAR device 220 may be configured to forma 3D representation based on the environmental information. Furthermore,the LIDAR device 220 may be configured to determine objects in theenvironment based on the 3D representation.

LIDAR device 220 may be configured to operate in response toenvironmental information provided by the other sensing devices 212. Forinstance, the other sensing devices 212 may obtain environmentalinformation that may indicate an object in the environment of thevehicle. Target information may be determined based on the environmentalinformation. Namely, the target information may include a type, size, orshape of an object, a particular distance, a particular position, or anangle range. In some embodiments, the target information may beindicative of a target object about which higher quality information isrequested, e.g. higher resolution, further number of scans, etc. Forexample, if another sensing device 212 provides environmentalinformation that indicates a possible pedestrian near a crosswalk,target information may be based on a location of the possiblepedestrian.

FIG. 3A illustrates a view of a LIDAR device 300, according to anexample embodiment. The LIDAR device 300 may be similar or identical tothe second LIDAR 122 as illustrated and described in reference to FIG.1B. For example, the LIDAR device 300 may be mounted at a top side of avehicle such as the vehicle 100 similarly to the second LIDAR 122 of theFIG. 1B. As shown, the LIDAR device 300 includes an optics assembly 310,a mirror 320, a pin 322, and a platform 330. Additionally, light beams304 emitted by the second LIDAR device 300 propagate away from themirror 320 along a viewing direction of the second LIDAR 300 toward anenvironment of the LIDAR device 300, and reflect of one or more objectsin the environment as reflected light 306.

The optics assembly 310 may be configured to emit light pulses towardsthe mirror 320 that are then reflected by the mirror 320 as the emittedlight 304. Further, the optics assembly 310 may be configured to receivereflected light 306 that is reflected off the mirror 320. In oneembodiment, the optics assembly 310 may include a single laser emitterthat is configured to provide a narrow beam having a wavelength of 1550nm. In this embodiment, the narrow beam may have a high energysufficient for detection of objects within a long range of distances,similarly to the second LIDAR 122 of FIG. 1B. In other embodiments, theoptics assembly 310 may include multiple light sources similarly to theLIDAR 200 of FIGS. 2A-2B. Further, in some examples, the optics assembly310 may include a single lens for both collimation of emitted light 304and focusing of reflected light 306. In other examples, the opticsassembly 310 may include a first lens for collimation of emitted light304 and a second lens for focusing of reflected light 306.

The mirror 320 may be arranged to steer emitted light 304 from theoptics assembly 310 towards the viewing direction of the LIDAR 300 asillustrated in FIG. 3A. Similarly, for example, the mirror 320 may bearranged to steer reflected light 306 from the environment towards theoptics assembly 310.

The pin 322 may be configured to mount the mirror 320 to the LIDARdevice 300. In turn, the pin 322 can be formed from any material capableof supporting the mirror 320. For example, the pin 322 may be formedfrom a solid material such as plastic or metal among otherpossibilities. In some examples, the LIDAR 300 may be configured torotate the mirror 320 about the pin 322 over a given range of angles tosteer the emitted light 304 vertically. In one embodiment, the LIDAR 300may rotate the mirror 320 about the pin 322 over the range of angles of15°. In this embodiment, the vertical FOV of the LIDAR 300 maycorrespond to 15°. However, other vertical FOVs are possible as wellaccording to various factors such as the mounting position of the LIDAR300 or any other factor.

The platform 330 can be formed from any material capable of supportingvarious components of the LIDAR 300 such as the optics assembly 310 andthe mirror 320. For example, the platform 330 may be formed from a solidmaterial such as plastic or metal among other possibilities. In someexamples, the platform 330 may be configured to rotate about an axis ofthe LIDAR device 300. For example, the platform 330 may include a motorsuch as a stepper motor to facilitate such rotation. In some examples,the axis is substantially vertical. By rotating the platform 330 thatsupports the various components, in some examples, the platform 330 maysteer the emitted light 304 horizontally, thus allowing the LIDAR 300 tohave a horizontal FOV. In one embodiment, the platform 330 may rotatefor a defined amount of rotation such as 8°. In this embodiment, theLIDAR 300 may thus have a horizontal FOV of 8°, similarly to the secondLIDAR 122 of FIG. 1B. In another embodiment, the platform 330 may rotatefor complete 360° rotation such that the horizontal FOV is 360°,similarly to the first LIDAR 120 of FIG. 1B. Other configurations of theplatform 330 are possible as well.

FIG. 3B illustrates a view of a LIDAR device 300, according to anexample embodiment. Namely, FIG. 3B is an overhead oblique view of theLIDAR device 300.

FIGS. 4A and 4B illustrate different cross-sectional views of a LIDARdevice 400, according to an example embodiment. The LIDAR device 400 maybe similar or identical to other devices disclosed herein, such as LIDARdevice 200 and LIDAR device 300 as illustrated and described inreference to FIGS. 2, 3A, and 3B. Furthermore, LIDAR device 400 may beone of a plurality of LIDAR sensor devices incorporated into a vehiclesuch as vehicle 100 illustrated and described in reference to FIGS. 1Aand 1B.

The LIDAR device 400 may include a moveable mirror 402, a light source404, an emission mirror 406, a lens 408, and one or more detectors 410.The LIDAR device 400 may be enclosed by a light filter 412.

As described elsewhere herein, the light source 404 may be a fiberlaser. The light source 404 may emit emission light at 1550 nm. Theemission light from the light source 404 may be reflected off theemission mirror 406. The emission mirror 406 may be a flat mirror.Alternatively or additionally, the emission mirror 406 may include aconverging mirror, a diverging mirror, or another type of reflectiveoptic device, e.g. cylindrical lens. One of skill in the art willrecognize that the emission mirror 406 may represent one or more opticalcomponents configured to direct emission light towards the moveablemirror 402. Furthermore, the one or more optical components may beconfigured to shape, reflect, focus, or otherwise modify the emissionlight from the light source 404.

The emission light may optionally be focused by lens 408 beforeinteracting with the moveable mirror 402. Alternatively, the emissionlight may pass through an opening (e.g. a pass-through slit or aperture)in the lens 408 before interacting with the moveable mirror 402.Additionally or alternatively, the emission light may be focused orotherwise modified by another optical element.

The light filter 412 may be configured to be substantially transparentto at least some wavelengths of emission light. The light filter 412 maybe configured to be substantially opaque to other wavelengths of light.

As described elsewhere herein, the LIDAR device 400 may be configured torotate on a rotational mount 414. Specifically, rotational mount 414 maybe configured to rotate about a vertical axis. The moveable mirror 402may be configured to rotate about pin 416 in a reciprocating manner, soas to direct emission light upwards and downwards along a verticalplane. The combination of the rotational motion via rotational mount 414and the reciprocating motion of the movable mirror 402 may enable theillumination of a field of view of an environment of a vehicle.

Emission light may interact with objects and surfaces in the vehicle'senvironment. At least a portion of the emission light may be reflectedback towards the LIDAR device 400 and the moveable mirror 402 asreflected light. The reflected light may interact with the moveablemirror 402 such that the moveable mirror 402 directs the reflected lighttowards lens 408. Lens 408 may focus, collimate, or otherwise modify thereflected light such that it interacts with the one or more detectors410.

As described elsewhere herein, the reflected light collected by the oneor more detectors 410 may be used to form a spatial point cloud. Thespatial point cloud may provide information about objects and/orsurfaces in the field of view of the LIDAR device 400.

FIG. 5 illustrates a representation of a scene 500, according to anexample embodiment. Specifically, FIG. 5 may illustrate a spatial pointcloud of an environment based on data from the LIDAR device 300 and 400of FIGS. 3A, 3B, 4A, and 4B. The spatial point cloud may represent athree-dimensional (3D) representation of the environment around avehicle. The 3D representation may be generated by a computing device asa 3D point cloud based on the data from the LIDAR device 300 and 400 ofFIGS. 3A, 3B, 4A, and 4B. Each point of the 3D cloud, for example, maybe associated with a reflected light pulse from the reflected lightbeams 306 shown in FIG. 3A. Thus, as shown, points at a greater distancefrom the LIDAR device 300 are further from one another due to theangular resolution of the LIDAR device 300.

Based on the rotation of the LIDAR device 300, the scene 500 includes ascan of the environment in all directions (360° horizontally) as shownin FIG. 5. Further, as shown, a region 502 of the scene 500 does notinclude any points. For example, the region 502 may correspond to thecontour 160 (FIG. 1E) around the vehicle 100 that the LIDAR device 300of FIG. 3A is unable to scan due to positioning at the top side of thevehicle 100. Further, as shown, a region 504 is indicative of objects inthe environment of the LIDAR device 300. For example, the objects in theregion 504 may correspond to pedestrians, vehicles, or other obstaclesin the environment of the LIDAR device 300. In an example scenario wherethe LIDAR device 300 is mounted to a vehicle such as the vehicle 100,the vehicle 100 may utilize the spatial point cloud information from thescene 500 to navigate the vehicle away from region 504 towards region506 that does not include the obstacles of the region 504.

FIG. 6 illustrates a representation of a scene 600, according to anexample embodiment. In some examples, a 3D representation may begenerated based on spatial point cloud data generated by LIDAR device300 or 400 of FIGS. 3A, 3B, 4A, and 4B. Each point of the 3D cloud, forexample, may be associated with a reflected light pulse from thereflected light beams 306 shown in FIG. 3A.

As shown, the representation of the scene 600 includes a region 602similar to the region 502 of scene 500 that may represent an unscannedor unscannable region due to the positioning of the LIDAR device 300 atthe top side of a vehicle. For example, the region 602 may correspond tothe contour 160 of FIG. 1E around the vehicle 100.

Unlike the representation of the scene 500 of FIG. 5, however, therepresentation of the scene 600 may span a much narrower field-of-view.For example, the FOV scanned by the LIDAR 300 and illustrated in therepresentation of the scene 600 may correspond to the contour 164 ofFIG. 1E. Due in part to the narrower FOV, the representation of thescene 600 has a higher resolution than the representation of the scene500. For instance, points in the point cloud of scene 600 are closer toone another and thus some objects in the environment may be more easilyidentified compared to the objects in the environment represented byscene 500.

In an example scenario, a vehicle such as the vehicle 100 may include afirst LIDAR (e.g., first LIDAR 120) and a second LIDAR (e.g., secondLIDAR 122). In the scenario, the vehicle may utilize data from the firstLIDAR to generate the representation of scene 500 of FIG. 5. Further, inthe scenario, the vehicle may determine that the region 504 of therepresentation of scene 500 as a region of interest, or a targetobject/location, for further scanning. In turn, the vehicle in thescenario may adjust a viewing direction of the second LIDAR to scan theregion of interest and obtain the representation of scene 600 of FIG. 6.In the scenario, the vehicle may process the representation of scene 600using a computing process such as an image processing algorithm or ashape detection algorithm. In turn, the vehicle of the scenario mayidentify an object in region 604 of the representation of scene 600 as apedestrian, and another object in region 606 as a light post. In thescenario, the vehicle may then navigate accordingly.

In one instance, the vehicle may navigate to be within a first thresholddistance to the objects if the objects include a pedestrian (e.g., asindicated by region 604), or a lower second threshold distance if theobjects include inanimate objects such as the light post (e.g.,indicated by region 606) among other possibilities. In another instance,the vehicle may assign the second LIDAR to track the objects if ananimate object is identified (e.g., region 604), or may assign thesecond LIDAR to track other objects if only inanimate objects wereidentified. Other navigational operations are possible in line with thescenario.

In an example embodiment, the region of interest or targetobject/location may be determined based on target information. Thetarget information may include a specific object of interest, apedestrian, another vehicle, an intersection, a traffic signal, acrosswalk, a “blind” spot of a vehicle, or any number of other targetsthat may be of interest in navigating a vehicle. The target informationmay be received by a controller of the LIDAR system and may be providedby a sensing device. The sensing device could include another LIDARsystem or it could be another type of sensor, such as a camera, anultrasonic transducer, and/or a RADAR.

Alternatively or additionally, target information may be based on a mapof the environment around the vehicle, a location of the vehicle, or amovement of the vehicle. Other target information is possible to assistin vehicle navigation and object avoidance.

Thus, in some examples, a vehicle that includes a combination of sensorsand the LIDAR device disclosed herein may utilize the respectivecharacteristics of each sensor such as refresh rate, resolution, FOV,position, etc., to scan the environment according to various roadconditions and/or scenarios.

FIG. 7 illustrates a representation of a scene 700, according to anexample embodiment. As a further illustrative example, FIG. 7 mayinclude another spatial point cloud that may be generated by LIDARdevice 300 or 400 as illustrated and described in reference to FIGS. 3A,3B, 4A, and 4B. Namely, FIG. 7 may include a blind (unscannable) region702 and a representation of a person 704.

FIG. 8 illustrates a vehicle 800 operating in an environment thatincludes one or more objects, according to an example embodiment. Thevehicle 800 may be similar to the vehicle 100. For example, as shown,the vehicle 800 includes sensor units 802, 806, 808, and 810 that aresimilar, respectively, to the sensor units 102, 106, 108, and 110 of thevehicle 100. For instance, the sensor unit 802 may include a first LIDAR(not shown) and a second LIDAR (not shown) that are similar,respectively, to the first LIDAR 120 and the second LIDAR 122 of thevehicle 100. Further, for instance, each of the sensor units 806-810 mayalso include a LIDAR similar to the third LIDAR 130 of the vehicle 100.As shown, the environment of the vehicle 800 includes various objectssuch as cars 812, 814, 816, road sign 818, tree 820, building 822,street sign 824, pedestrian 826, dog 828, car 830, driveway 832, andlane lines including lane line 834. In accordance with the presentdisclosure, the vehicle 800 may perform the methods and processesherein, such as methods 500-700, to facilitate autonomous operation ofthe vehicle 800 and/or accidence avoidance by the vehicle 800. Below areexample scenarios for operation of the vehicle 800 in accordance withthe present disclosure.

In a first scenario, the vehicle 800 may detect the road sign 818 usinga medium range LIDAR, similar to the first LIDAR 120 of the vehicle 100.In other words, the first LIDAR 120 or another sensor may provide targetinformation to a controller 230 of the LIDAR system 200. In turn, thevehicle 800 may adjust a viewing direction of a higher resolution LIDARand/or longer range LIDAR, similar to the second LIDAR 122 of thevehicle 100, to analyze the road sign 818 for information. The higherresolution of the second LIDAR, for instance, may allow resolving theinformation due to differences of reflectivity of features in the roadsign 818. In one instance of the scenario, the road sign may indicatehazards ahead or a closed lane, and the vehicle 800 may adjust its speedor change lanes accordingly. In another instance of the scenario, theroad sign may indicate traffic delays ahead, and the vehicle 800 maythen instruct a navigation system of the vehicle 800 to determine analternate route. Other variations of the scenario are possible as well.

In a second scenario, the vehicle 800 may use various sensors to detectand/or identify the various objects illustrated in FIG. 8. The varioussensors may provide to controller 230 target information that relates tothe environment around vehicle 800. For example, the vehicle 800 mayidentify the cars 812-816 as moving objects that may be relevant to thenavigational behavior of the vehicle 800. Accordingly, the vehicle 800may use LIDAR device 300 or 400 to track the cars 812-816 and facilitatesuch navigation. For instance, the vehicle 800 may adjust its speed, ormay change lanes to avoid contact with the cars 812-816 based on datafrom the LIDAR device 300 or 400.

In a third scenario, the vehicle 800 may utilize a first LIDAR of thesensor unit 802, similar to the LIDAR 120 of the vehicle 100, to detectand/or identify the car 814 that is within a threshold distance (e.g.,medium range of distances) to the vehicle 800. In the scenario, the car814 may be in the process of changing lanes to the same lane as thevehicle 800. In the scenario, the vehicle 800 may need to adjust itsspeed and/or change lanes to maintain a safe distance to the car 814.However, data from the first LIDAR may have a first resolutioninsufficient to detect whether the car 814 is crossing the lane line834, or may be insufficient to even detect/identify the lane line 834.Thus, in the scenario, the vehicle 800 may adjust a viewing direction ofa second LIDAR, similar to the second LIDAR 122 or the LIDAR device 300or 400, that is included in the sensor unit 802 and that has a highersecond resolution than the first resolution of the first LIDAR. In turn,the vehicle 800 may resolve the lane line 834 and/or whether the car 814is crossing the lane lines. Alternatively, for instance, the vehicle 800may utilize the higher resolution of the second LIDAR to detect a leftlight signal of the car 814 to determine that the vehicle 814 ischanging lanes among other possibilities.

In a fourth scenario, the car 816 may be driving erratically or movingat a high speed relative to the vehicle 800 among other possibilities.In this scenario, the vehicle 800 may track the car 816 using the LIDARdevice 300 or 400, and may navigate accordingly (e.g., change lanes,adjust speed, etc.) to avoid contact with the car 816.

Other scenarios are possible as well. Thus, the present methods andsystems may facilitate autonomous operation and/or accidence avoidancefor a vehicle such as the vehicle 800 by utilizing a high-resolutionLIDAR system configured to provide information about the environmentaround vehicle 800.

FIG. 9 is a simplified block diagram of a vehicle 900, according to anexample embodiment. The vehicle 900 may be similar to the vehicles 100and/or 800. Further, the vehicle 900 may be configured to performfunctions and methods herein such as the methods 500, 600, and/or 700.As shown, the vehicle 900 includes a propulsion system 902, a sensorsystem 904, a control system 906, peripherals 908, and a computer system910. In other embodiments, the vehicle 900 may include more, fewer, ordifferent systems, and each system may include more, fewer, or differentcomponents. Additionally, the systems and components shown may becombined or divided in any number of ways.

The propulsion system 902 may be configured to provide powered motionfor the vehicle 900. As shown, the propulsion system 902 includes anengine/motor 918, an energy source 920, a transmission 922, andwheels/tires 924.

The engine/motor 918 may be or include any combination of an internalcombustion engine, an electric motor, a steam engine, and a Stirlingengine. Other motors and engines are possible as well. In someembodiments, the propulsion system 902 may include multiple types ofengines and/or motors. For instance, a gas-electric hybrid car mayinclude a gasoline engine and an electric motor. Other examples arepossible.

The energy source 920 may be a source of energy that powers theengine/motor 918 in full or in part. That is, the engine/motor 918 maybe configured to convert the energy source 920 into mechanical energy.Examples of energy sources 920 include gasoline, diesel, propane, othercompressed gas-based fuels, ethanol, solar panels, batteries, and othersources of electrical power. The energy source(s) 920 may additionallyor alternatively include any combination of fuel tanks, batteries,capacitors, and/or flywheels. In some embodiments, the energy source 920may provide energy for other systems of the vehicle 900 as well.

The transmission 922 may be configured to transmit mechanical power fromthe engine/motor 918 to the wheels/tires 924. To this end, thetransmission 922 may include a gearbox, clutch, differential, driveshafts, and/or other elements. In embodiments where the transmission 922includes drive shafts, the drive shafts may include one or more axlesthat are configured to be coupled to the wheels/tires 924.

The wheels/tires 924 of vehicle 900 may be configured in variousformats, including a unicycle, bicycle/motorcycle, tricycle, orcar/truck four-wheel format. Other wheel/tire formats are possible aswell, such as those including six or more wheels. In any case, thewheels/tires 924 may be configured to rotate differentially with respectto other wheels/tires 924. In some embodiments, the wheels/tires 924 mayinclude at least one wheel that is fixedly attached to the transmission922 and at least one tire coupled to a rim of the wheel that could makecontact with the driving surface. The wheels/tires 924 may include anycombination of metal and rubber, or combination of other materials. Thepropulsion system 902 may additionally or alternatively includecomponents other than those shown.

The sensor system 904 may include a number of sensors configured tosense information about an environment in which the vehicle 900 islocated, as well as one or more actuators 936 configured to modify aposition and/or orientation of the sensors. As shown, the sensors of thesensor system 904 include a Global Positioning System (GPS) 926, aninertial measurement unit (IMU) 928, a RADAR unit 930, a laserrangefinder and/or LIDAR unit 932, and a camera 934. The sensor system904 may include additional sensors as well, including, for example,sensors that monitor internal systems of the vehicle 900 (e.g., an O₂monitor, a fuel gauge, an engine oil temperature, etc.). Further, thesensor system 904 may include multiple LIDARs. In some examples, thesensor system 904 may be implemented as multiple sensor units eachmounted to the vehicle in a respective position (e.g., top side, bottomside, front side, back side, right side, left side, etc.). Other sensorsare possible as well.

The GPS 926 may be any sensor (e.g., location sensor) configured toestimate a geographic location of the vehicle 900. To this end, the GPS926 may include a transceiver configured to estimate a position of thevehicle 900 with respect to the Earth. The GPS 926 may take other formsas well.

The IMU 928 may be any combination of sensors configured to senseposition and orientation changes of the vehicle 900 based on inertialacceleration. In some embodiments, the combination of sensors mayinclude, for example, accelerometers and gyroscopes. Other combinationsof sensors are possible as well.

The RADAR unit 930 may be any sensor configured to sense objects in theenvironment in which the vehicle 900 is located using radio signals. Insome embodiments, in addition to sensing the objects, the RADAR unit 930may additionally be configured to sense the speed and/or heading of theobjects.

Similarly, the laser range finder or LIDAR unit 932 may be any sensorconfigured to sense objects in the environment in which the vehicle 900is located using lasers. In particular, the laser rangefinder or LIDARunit 932 may include a laser source and/or laser scanner configured toemit a laser and a detector configured to detect reflections of thelaser. The laser rangefinder or LIDAR 932 may be configured to operatein a coherent (e.g., using heterodyne detection) or an incoherentdetection mode. In some examples, the LIDAR unit 932 may includemultiple LIDARs that each have a unique position and/or configurationsuitable for scanning a particular region of an environment around thevehicle 900.

The camera 934 may be any camera (e.g., a still camera, a video camera,etc.) configured to capture images of the environment in which thevehicle 900 is located. To this end, the camera may take any of theforms described above. The sensor system 904 may additionally oralternatively include components other than those shown.

The control system 906 may be configured to control operation of thevehicle 900 and its components. To this end, the control system 906 mayinclude a steering unit 938, a throttle 940, a brake unit 942, a sensorfusion algorithm 944, a computer vision system 946, a navigation orpathing system 948, and an obstacle avoidance system 950.

The steering unit 938 may be any combination of mechanisms configured toadjust the heading of vehicle 900. The throttle 940 may be anycombination of mechanisms configured to control the operating speed ofthe engine/motor 918 and, in turn, the speed of the vehicle 900. Thebrake unit 942 may be any combination of mechanisms configured todecelerate the vehicle 900. For example, the brake unit 942 may usefriction to slow the wheels/tires 924. As another example, the brakeunit 942 may convert the kinetic energy of the wheels/tires 924 toelectric current. The brake unit 942 may take other forms as well.

The sensor fusion algorithm 944 may be an algorithm (or a computerprogram product storing an algorithm) configured to accept data from thesensor system 904 as an input. The data may include, for example, datarepresenting information sensed at the sensors of the sensor system 904.The sensor fusion algorithm 944 may include, for example, a Kalmanfilter, a Bayesian network, an algorithm configured to perform some ofthe functions of the methods herein, or any another algorithm. Thesensor fusion algorithm 944 may further be configured to provide variousassessments based on the data from the sensor system 904, including, forexample, evaluations of individual objects and/or features in theenvironment in which the vehicle 100 is located, evaluations ofparticular situations, and/or evaluations of possible impacts based onparticular situations. Other assessments are possible as well.

The computer vision system 946 may be any system configured to processand analyze images captured by the camera 934 in order to identifyobjects and/or features in the environment in which the vehicle 900 islocated, including, for example, traffic signals and obstacles. To thisend, the computer vision system 946 may use an object recognitionalgorithm, a Structure from Motion (SFM) algorithm, video tracking, orother computer vision techniques. In some embodiments, the computervision system 946 may additionally be configured to map the environment,track objects, estimate the speed of objects, etc.

The navigation and pathing system 948 may be any system configured todetermine a driving path for the vehicle 900. The navigation and pathingsystem 948 may additionally be configured to update the driving pathdynamically while the vehicle 900 is in operation. In some embodiments,the navigation and pathing system 948 may be configured to incorporatedata from the sensor fusion algorithm 944, the GPS 926, the LIDAR unit932, and one or more predetermined maps so as to determine the drivingpath for vehicle 900.

The obstacle avoidance system 950 may be any system configured toidentify, evaluate, and avoid or otherwise negotiate obstacles in theenvironment in which the vehicle 900 is located. The control system 906may additionally or alternatively include components other than thoseshown.

Peripherals 908 may be configured to allow the vehicle 900 to interactwith external sensors, other vehicles, external computing devices,and/or a user. To this end, the peripherals 908 may include, forexample, a wireless communication system 952, a touchscreen 954, amicrophone 956, and/or a speaker 958.

The wireless communication system 952 may be any system configured towirelessly couple to one or more other vehicles, sensors, or otherentities, either directly or via a communication network. To this end,the wireless communication system 952 may include an antenna and achipset for communicating with the other vehicles, sensors, servers, orother entities either directly or via a communication network. Thechipset or wireless communication system 952 in general may be arrangedto communicate according to one or more types of wireless communication(e.g., protocols) such as BLUETOOTH, communication protocols describedin IEEE 802.11 (including any IEEE 802.11 revisions), cellulartechnology (such as GSM, CDMA, UMTS, EV-DO, WiMAX, or LTE), ZIGBEE,dedicated short range communications (DSRC), and radio frequencyidentification (RFID) communications, among other possibilities. Thewireless communication system 952 may take other forms as well.

The touchscreen 954 may be used by a user to input commands to thevehicle 900. To this end, the touchscreen 954 may be configured to senseat least one of a position and a movement of a user's finger viacapacitive sensing, resistance sensing, or a surface acoustic waveprocess, among other possibilities. The touchscreen 954 may be capableof sensing finger movement in a direction parallel or planar to thetouchscreen surface, in a direction normal to the touchscreen surface,or both, and may also be capable of sensing a level of pressure appliedto the touchscreen surface. The touchscreen 954 may be formed of one ormore translucent or transparent insulating layers and one or moretranslucent or transparent conducting layers. The touchscreen 954 maytake other forms as well.

The microphone 956 may be configured to receive audio (e.g., a voicecommand or other audio input) from a user of the vehicle 900. Similarly,the speakers 958 may be configured to output audio to the user of thevehicle 900. The peripherals 908 may additionally or alternativelyinclude components other than those shown.

The computer system 910 may be configured to transmit data to, receivedata from, interact with, and/or control one or more of the propulsionsystem 902, the sensor system 904, the control system 906, and theperipherals 908. To this end, the computer system 910 may becommunicatively linked to one or more of the propulsion system 902, thesensor system 904, the control system 906, and the peripherals 908 by asystem bus, network, and/or other connection mechanism (not shown).

In one example, the computer system 910 may be configured to controloperation of the transmission 922 to improve fuel efficiency. As anotherexample, the computer system 910 may be configured to cause the camera934 to capture images of the environment. As yet another example, thecomputer system 910 may be configured to store and execute instructionscorresponding to the sensor fusion algorithm 944. As still anotherexample, the computer system 910 may be configured to store and executeinstructions for determining a 3D representation of the environmentaround the vehicle 900 using the LIDAR unit 932. Other examples arepossible as well.

As shown, the computer system 910 includes the processor 912 and datastorage 914. The processor 912 may comprise one or more general-purposeprocessors and/or one or more special-purpose processors. To the extentthe processor 912 includes more than one processor, such processorscould work separately or in combination. Data storage 914, in turn, maycomprise one or more volatile and/or one or more non-volatile storagecomponents, such as optical, magnetic, and/or organic storage, and datastorage 914 may be integrated in whole or in part with the processor912.

In some embodiments, data storage 914 may contain instructions 916(e.g., program logic) executable by the processor 912 to execute variousvehicle functions (e.g., methods 500-700, etc.). Data storage 914 maycontain additional instructions as well, including instructions totransmit data to, receive data from, interact with, and/or control oneor more of the propulsion system 902, the sensor system 904, the controlsystem 906, and/or the peripherals 908. The computer system 910 mayadditionally or alternatively include components other than those shown.

As shown, the vehicle 900 further includes a power supply 960, which maybe configured to provide power to some or all of the components of thevehicle 900. To this end, the power supply 960 may include, for example,a rechargeable lithium-ion or lead-acid battery. In some embodiments,one or more banks of batteries could be configured to provide electricalpower. Other power supply materials and configurations are possible aswell. In some embodiments, the power supply 960 and energy source 920may be implemented together as one component, as in some all-electriccars.

In some embodiments, the vehicle 900 may include one or more elements inaddition to or instead of those shown. For example, the vehicle 900 mayinclude one or more additional interfaces and/or power supplies. Otheradditional components are possible as well. In such embodiments, datastorage 914 may further include instructions executable by the processor912 to control and/or communicate with the additional components.

Still further, while each of the components and systems are shown to beintegrated in the vehicle 900, in some embodiments, one or morecomponents or systems may be removably mounted on or otherwise connected(mechanically or electrically) to the vehicle 900 using wired orwireless connections. The vehicle 900 may take other forms as well.

FIG. 10 depicts a computer readable medium configured according to anexample embodiment. In example embodiments, an example system mayinclude one or more processors, one or more forms of memory, one or moreinput devices/interfaces, one or more output devices/interfaces, andmachine readable instructions that when executed by the one or moreprocessors cause the system to carry out the various functions tasks,capabilities, etc., described above.

In some embodiments, the disclosed techniques (e.g., method 1100 below,etc.) may be implemented by computer program instructions encoded on acomputer readable storage media in a machine-readable format, or onother media or articles of manufacture (e.g., instructions 916 of thevehicle 900, etc.). FIG. 10 is a schematic illustrating a conceptualpartial view of an example computer program product that includes acomputer program for executing a computer process on a computing device,arranged according to at least some embodiments disclosed herein.

In one embodiment, the example computer program product 1000 is providedusing a signal bearing medium 1002. The signal bearing medium 1002 mayinclude one or more programming instructions 1004 that, when executed byone or more processors may provide functionality or portions of thefunctionality described above with respect to FIGS. 1-9. In someexamples, the signal bearing medium 1002 may be a non-transitorycomputer-readable medium 1006, such as, but not limited to, a hard diskdrive, a Compact Disc (CD), a Digital Video Disk (DVD), a digital tape,memory, etc. In some implementations, the signal bearing medium 1002 maybe a computer recordable medium 1008, such as, but not limited to,memory, read/write (R/W) CDs, R/W DVDs, etc. In some implementations,the signal bearing medium 1002 may be a communication medium 1010 (e.g.,a fiber optic cable, a waveguide, a wired communications link, etc.).Thus, for example, the signal bearing medium 1002 may be conveyed by awireless form of the communications medium 1010.

The one or more programming instructions 1004 may be, for example,computer executable and/or logic implemented instructions. In someexamples, a computing device may be configured to provide variousoperations, functions, or actions in response to the programminginstructions 1004 conveyed to the computing device by one or more of thecomputer readable medium 1006, the computer recordable medium 1008,and/or the communications medium 1010.

The computer readable medium 1006 may also be distributed among multipledata storage elements, which could be remotely located from each other.The computing device that executes some or all of the storedinstructions could be an external computer, or a mobile computingplatform, such as a smartphone, tablet device, personal computer,wearable device, etc. Alternatively, the computing device that executessome or all of the stored instructions could be remotely locatedcomputer system, such as a server.

Method Examples

FIG. 11 illustrates a method 1100, according to an example embodiment.The method 1100 includes blocks that may be carried out in any order.Furthermore, various blocks may be added to or subtracted from method1100 within the intended scope of this disclosure. The method 1100 maycorrespond to steps that may be carried out using any or all of thesystems illustrated and described in reference to FIGS. 1A-1E, 2, 3A-3B,4A-4B, 9, or 10.

Block 1102 includes receiving target information by a controller of alight detection and ranging (LIDAR) device. The target information maybe received from another sensing device or based on an expected locationof an object or a particular location. In other words, the targetinformation may be indicative at least one of: a type of object, a sizeof an object, a shape of an object, a distance, a position, or an anglerange.

Block 1104 includes causing a light source of the LIDAR to emit lightwithin a wavelength range, wherein the light source comprises a fiberlaser. As discussed above, the light source may be configured to emitlight at one or more wavelengths, e.g. 1550 nm.

Block 1106 includes causing a scanning portion of the LIDAR to directthe emitted light in a reciprocating manner about a first axis. Thescanning portion of the LIDAR may include a moveable mirror, a spring,and an actuator. The spring and the actuator may be configured to movethe moveable mirror in a back-and-forth motion about the first axis at aresonant frequency. The resonant frequency could be 140 Hz or anotherfrequency.

Block 1108 includes, in response to receiving the target information,causing a rotational mount coupled to the LIDAR to rotate so as toadjust a pointing direction of the LIDAR. In an example embodiment, therotational mount is configured to rotate about a second axis. The secondaxis could be a vertical axis that runs through the roof and floor ofthe vehicle. Thus, in response to receiving target information about atarget at a particular direction of interest, the rotational mount maybe configured to rotate the moveable mirror such that the emitted lightis directed or steered towards the particular direction of interest.

Block 1110 includes causing the LIDAR to scan a field-of-view (FOV) ofthe environment, wherein the FOV extends away from the LIDAR along thepointing direction. Scanning could include controlling one or both ofthe rotational mount and/or the moveable mirror so as to illuminate theFOV with emitted light and receive the reflected, emitted light at oneor more detectors associated with the LIDAR.

Block 1112 includes determining a three-dimensional (3D) representationof the environment based on data from scanning the FOV. As describedabove, the LIDAR system may include one or more detectors configured toreceive emitted light that has been reflected from objects in theenvironment around the vehicle. Thus, based on the received light, theLIDAR system may produce a point cloud map that may be indicative of thevehicle's environment. The point cloud map may be used for navigation,object recognition, obstacle avoidance, and/or other functions.

The particular arrangements shown in the Figures should not be viewed aslimiting. It should be understood that other embodiments may includemore or less of each element shown in a given Figure. Further, some ofthe illustrated elements may be combined or omitted. Yet further, anillustrative embodiment may include elements that are not illustrated inthe Figures.

While various examples and embodiments have been disclosed, otherexamples and embodiments will be apparent to those skilled in the art.The various disclosed examples and embodiments are for purposes ofillustration and are not intended to be limiting, with the true scopeand spirit being indicated by the following claims.

What is claimed is:
 1. A device comprising: a light detection andranging (LIDAR) device, wherein the LIDAR device comprises: a lightsource configured to emit light; and a plurality of detectors; and acontroller configured to: receive target or directional informationbased on an initial three-dimensional (3D) representation of anenvironment of the device; in response to receiving the target ordirectional information, cause an adjustment to a pointing direction ofthe LIDAR device; cause the LIDAR device to scan a field-of-view (FOV)of the environment; and provide information indicative of a 3Drepresentation of the environment based on data from scanning the FOV.2. The device of claim 1 wherein a wavelength of the emitted lightcomprises 1550 nm.
 3. The device of claim 1, wherein the light sourcecomprises a laser.
 4. The device of claim 1, further comprising: ahousing, wherein at least the scanning portion is disposed within thehousing, and wherein a wall of the housing comprises a light filterconfigured to allow the emitted light to propagate through the lightfilter; and a rotational mount configured to rotate at least a portionof the LIDAR device about a second axis.
 5. The device of claim 4wherein the housing is positioned at a top side of a vehicle, whereinthe second axis comprises an axis passing through the top side of thevehicle, and wherein the rotational mount is configured to rotate withina 360 degree range of motion about the second axis.
 6. The device ofclaim 4 wherein the light filter has a dome shape.
 7. The device ofclaim 4 wherein the light filter is configured to attenuate visiblelight propagating into the housing.
 8. The device of claim 1, furthercomprising a further LIDAR device, wherein the LIDAR device isconfigured to obtain data within a first region, wherein the furtherLIDAR device is configured to obtain data within a second region, andwherein the first and second regions do not fully overlap.
 9. The deviceof claim 1, further comprising a further LIDAR device, wherein the LIDARdevice is associated with a first data resolution, and the further LIDARdevice is associated with a second data resolution, wherein the firstdata resolution is higher than the second data resolution.
 10. A systemcomprising: a vehicle; a sensing device configured to provideenvironmental data indicative of an environment around the vehicle,wherein the sensing device is coupled to the vehicle; a light detectionand ranging (LIDAR) device, wherein the LIDAR device is coupled to thevehicle; and a controller configured to: receive the environmental datafrom the sensing device, wherein the environmental data comprises targetor directional information; cause an adjustment to a pointing directionof the LIDAR device based at least on the target or directionalinformation; cause the LIDAR device to scan a field-of-view (FOV) of theenvironment; and providing information indicative of a 3D representationof the environment based on data from scanning the FOV.
 11. The systemof claim 10 wherein the LIDAR device comprises a light source, whereinthe light source comprises a laser.
 12. The system of claim 11, whereinthe laser is configured to emit light having a wavelength of 1550 nm.13. The system of claim 10 wherein the LIDAR device further comprises ascanning portion.
 14. The system of claim 13 wherein at least thescanning portion of the LIDAR device is disposed within a housing,wherein the housing is positioned at a top side of the vehicle, whereina second axis comprises an axis passing through the top side of thevehicle, and wherein a rotational mount is configured to rotate at leasta portion of the LIDAR device within a 360 degree range of motion aboutthe second axis.
 15. The system of claim 14 wherein the housingcomprises a light filter, wherein the light filter has a dome shape, andwherein the light filter is configured to attenuate visible lightpropagating into the housing.
 16. The system of claim 10, wherein thetarget or directional information is further indicative of at least oneof: a type of object, a size of an object, a shape of an object, aposition, a location, or an angle range.
 17. A method comprising:receiving target or directional information by a controller of a lightdetection and ranging (LIDAR) device, wherein the target or directionalinformation is based on an initial three-dimensional (3D) representationof an environment of the LIDAR device and is indicative at least one of:a type of object, a size of an object, a shape of an object, a distance,a position, or an angle range; in response to receiving the target ordirectional information, causing the LIDAR device to adjust a pointingdirection of the LIDAR device; causing a light source of the LIDARdevice to emit light, wherein the light source comprises a laser;causing the LIDAR device to scan a field-of-view (FOV) of theenvironment, wherein the FOV extends away from the LIDAR device alongthe pointing direction; and determining a 3D representation of theenvironment based on data from scanning the FOV.
 18. The method of claim17, wherein the LIDAR device is coupled to a rotational mount, andwherein adjusting the pointing direction of the LIDAR device comprisescausing the rotational mount to rotate at least a portion of the LIDARdevice about a rotational axis.
 19. The method of claim 17 furthercomprising identifying at least one object in the environment based onthe 3D representation.
 20. The method of claim 17, wherein the LIDAR isconfigured to obtain data within a first region, wherein a further LIDARis configured to obtain data within a second region, and wherein thefirst and second regions do not fully overlap, wherein the methodfurther comprises: causing the further LIDAR to scan a FOV of theenvironment corresponding to the second region; and determining a 3Drepresentation of the environment corresponding to the second region.